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Your fdisk output shows xp on sdb1 partition. Open a terminal in Ubuntu and run the command "blkid" (without quotes). You may need to prefix it with sudo: sudo blkid. This should give you the UUID for your partitions and you can compare the blkid output for sdb1 to the one in your error message.

When you boot the system with both drives attached, do you see the Grub menu with entries for Ubuntu and xp?

If I disconnect the hard drive running Ubuntu and start the computer, I receive, 'error: no such device: 31054cac-2646-4b48-9a45-264469af89cl. grub rescue>' And Windows refuses to boot.

At what point in the boot process do you get this message? After selecting windows from the menu?

Having windows on a second drive usually complicates things and you may need to map drives. windows bootloaders usually expect to be on the first drive.

I'm not really familiar with Grub2 but you should be able to find info on updating Grub2 here or by googling.